CN107965317B - A kind of ROV-based sampler and sampling method of omnidirectional underwater short-distance drilling rig - Google Patents

Abstract

The invention relates to an ROV-based omnidirectional underwater short-distance drilling rig sampler and its sampling method. The vertical drive mechanism is installed on the outer frame, the output end is connected with the rotary drive mechanism located in the outer frame, and the upper end of the drill rod is connected to the rotary drive mechanism. The output end of the mechanism is connected, and the lower end is threaded with the drill bit. The drill rod, drill bit and rotary drive mechanism are driven to lower or recover by the vertical drive mechanism. The drill rod and drill bit are driven to rotate by the rotary drive mechanism to obtain samples; The grasping handle for the ROV manipulator to grasp from multiple angles, the outer frame is equipped with a centering mechanism that makes the output axis of the drill pipe, the drill bit, the vertical drive mechanism and the output axis of the rotary drive mechanism collinear. The invention has the advantages of compact structure, good safety, little influence by sampling depth, strong corrosion resistance, flexible and stable work, fast and effective acquisition of samples, and full-angle operation and automatic drilling under water. Transport samples.

Description

A kind of ROV-based sampler of omnidirectional underwater short-distance drilling rig and its sampling method

technical field

The invention relates to a rock drill sampler for scientific research, in particular to an ROV-based omnidirectional underwater short-distance drill sampler and a sampling method thereof.

Background technique

The function of the underwater drilling rig in the traditional sense is to work on the underwater working surface through the advancement and rotation of the drill pipe. Due to the underwater pressure, the depth of manual operation is extremely limited. Using the complete set of equipment supported by the traditional drilling rig tower and drilling ship, the operation depth and operation method are subject to the mobilization fee and daily rental fee. It will be extremely uneconomical if scientific research operations are carried out, and it is impossible to perform sampling operations in deep sea and from multiple angles.

After searching the prior art, it was found that in the invention patent application published on February 18, 2015, with the publication number CN104354843A, a micro salvage drilling device and method for marine oil tankers that cooperate with ROV are disclosed. Hole—The method of oil pumping is used to salvage waste oil, and it is not used for scientific research to obtain rock samples. Other drilling rigs use optical fiber cable-controlled large-scale sampling equipment to carry out rock sampling operations on the seabed. The operating depth is carried out according to scientific needs. The drilling surface is vertical, and the drilling position is set in advance. Change. The characteristics of the above conditions determine that in the environment of complex changes in deep sea pressure, it is necessary to develop a new omnidirectional underwater drilling rig sampler based on ROV (remotely operated underwater robot) to ensure the acquisition of deep sea rock samples from all directions. .

Contents of the invention

In view of the deficiencies in the above-mentioned traditional drilling rig sampler, the object of the present invention is to provide an ROV-based omnidirectional underwater short-distance drilling rig sampler and its sampling method. The all-round underwater short-distance drilling rig sampler guarantees the acquisition of deep-sea variable-point and all-round rock samples, and can be used in the environment of complex deep-sea pressure changes.

The purpose of the present invention is achieved through the following technical solutions:

The all-round underwater short-distance drilling rig sampler of the present invention includes a grab handle, a vertical drive mechanism, a rotary drive mechanism, an outer frame, a centering mechanism, a drill rod and a drill bit, wherein the vertical drive mechanism is installed on the outer frame, and the output end is connected to the The rotary drive mechanism in the outer frame is connected, the upper end of the drill rod is connected to the output end of the rotary drive mechanism, and the lower end is threadedly connected with the drill bit, and the drill rod, drill bit and rotary drive mechanism are lowered or recovered through the vertical drive mechanism, The drill rod and drill bit are driven to rotate by the rotary drive mechanism to obtain samples; the upper part of the outer frame is provided with a grasping handle that can be grasped by the ROV manipulator at multiple angles, and the drill rod and drill bit are installed on the outer frame. , The centering mechanism in which the output axis of the vertical drive mechanism and the output axis of the rotary drive mechanism are collinear;

Wherein: the core fixing mechanism includes a rolling chute, a sliding guide rail, a guide pulley and a guide hole on the support plate at the bottom of the outer frame. The sliding guide rail is slidably connected, and the guide pulleys are multiple and evenly arranged on the outside of the drill rod. The drill rod passes between the guide pulleys and is in rolling contact with each guide pulley respectively; The vertical drive mechanism drives down or recovers from the guide hole;

The wheel shaft of the guide pulley is a T-shaped connecting shaft, the vertical side of the T-shaped connecting shaft is perpendicular to the axial direction of the drill pipe, and the two ends of the horizontal side of the T-shaped connecting shaft are rotatably connected with pulleys; There are multiple rows of through holes along the height direction on the frame, and the vertical sides of the T-shaped connecting shafts of the guide pulleys are inserted into the through holes of equal height;

The grabbing handle includes a lateral T-shaped handle and a vertical end T-shaped handle, the vertical end T-shaped handle is installed on the upper part of the outer frame, and the lateral T-shaped handle is obliquely connected with the vertical end T-shaped handle;

The outer frame includes a fixed plate, a frame pole and a support plate, and a plurality of frame poles are evenly distributed along the circumferential direction between the fixed plate and the support plate, and the outer edge of the support plate is uniformly distributed in the same number as the frame support along the circumferential direction. The number of rods is the same and one-to-one corresponds to the legs, one end of each frame rod is connected to the fixed plate, and the other end is respectively connected to the upper surface of a leg, and the lower surface of each leg is respectively provided with an increased friction Force toothed disc;

The vertical driving mechanism is a driving cylinder, the cylinder body of which is installed on the upper part of the outer frame, and the output end of the driving cylinder is located in the outer frame and connected with the rotating driving mechanism; the rotating driving mechanism is a hydraulic motor , the output end of the hydraulic motor is connected to the upper end of the drill pipe through the drill pipe connector;

The present invention is based on the sampling method of the all-round underwater short distance drilling rig sampler of ROV, comprises the following steps:

Step 1: Site selection, using the detection capability of ROV, conduct shallow profile measurement and appearance inspection on the sample point, initially determine the sampling position, use the robot arm of ROV to grab the grab handle, and place the drill sampler at the sampling point, placed on the seabed using said outer frame;

Step 2: deep-sea sampling, the vertical drive mechanism works, drives the rotary drive mechanism down, and then drives the drill pipe and drill bit down to a set position above the rock end face, the rotary drive mechanism works, drives the The drill rod and drill bit rotate, and the drill rod and drill bit are lowered and rotated under the drive of the vertical drive mechanism and the rotary drive mechanism to obtain rock samples at a set height;

Step 3: Break the core. When the vertical drive mechanism reaches full scale, use the ROV manipulator to shake the sampler of the drilling rig to break the core of the rock sample at the drill bit end, and recover the drill bit while rotating the drill pipe until the vertical drive Institutions take back all;

Step 4: Obtain samples at the shore base, use the ROV to bring the rig sampler back to the deck, disassemble the drill pipe and drill bit from the rig sampler, and take out the corresponding rock samples obtained from the inner layer of the drill pipe;

Wherein: in the step 2, after obtaining the rock sample at the required height, the vertical drive mechanism drives the drill pipe and the drill bit to recover, and then repeats the step 2 to carry out cumulative drilling of the rock sample;

The vertical driving mechanism drives no more than five centimeters at a time, and the rotary driving mechanism operates slowly and then quickly; once the drill sticking phenomenon occurs, the vertical driving mechanism retracts the set distance, and then performs rotary drilling until the drilling is completed. Take rock samples.

Advantage of the present invention and positive effect are:

The present invention has the advantages of compact structure, good safety, little influence by sampling depth, strong corrosion resistance, flexible and stable work, fast and effective acquisition of samples, and full-angle operation and automatic drilling under water. Transport samples.

Description of drawings

Fig. 1 is the structure front view of omnidirectional underwater short-distance drilling rig sampler of the present invention;

Fig. 2 is the top view of Fig. 1;

Fig. 3 is the schematic diagram of the three-dimensional structure of the all-round underwater short-distance drilling rig sampler of the present invention;

Among them: 1 is the grab handle, 2 is the driving cylinder, 3 is the fixed plate, 4 is the outer frame, 5 is the rolling chute, 6 is the sliding guide rail, 7 is the foot, 8 is the tooth plate, 9 is the guide pulley, 10 is Pilot hole, 11 is a hydraulic motor, 12 is a drill pipe connector, 13 is a drill pipe, 14 is a drill bit, 15 is a lateral T-shaped handle, 16 is a vertical T-shaped handle, 17 is a T-shaped connecting shaft, 18 is a through-hole Holes, 19 are support plates, and 20 are frame poles.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in Figures 1 to 3, the ROV-based omnidirectional underwater short-distance drilling rig sampler of the present invention includes a grab handle 1, a vertical drive mechanism, a rotary drive mechanism, an outer frame 4, a centering mechanism, a drill rod 13 and a drill bit 14, wherein the vertical drive mechanism is installed on the outer frame 4, the output end is connected with the rotary drive mechanism located in the outer frame 4, the upper end of the drill rod 13 is connected with the output end of the rotary drive mechanism, and the lower end is threaded with the drill bit 14, and the drill rod 13. The drill bit 14 and the rotary drive mechanism are lowered or recovered through the vertical drive mechanism, and the drill rod 13 and the drill bit 14 are driven to rotate by the rotary drive mechanism to obtain samples. The upper part of the outer frame 4 is provided with a grasping handle 1 that can be grasped by the ROV manipulator at multiple angles. The outer frame 4 is equipped with a drill rod 13, a drill bit 14, the output axis of the vertical drive mechanism and the output axis of the rotary drive mechanism. The centering mechanism.

The outer frame 4 is a straight-through frame, including a fixed plate 3, a frame pole 20 and a support plate 19, and a plurality of frame poles 20 (frame poles 20 in this embodiment) are evenly distributed along the circumferential direction between the fixed plate 3 and the support plate 19. There are three rods 20), the outer edge of the support plate 19 is uniformly distributed in the circumferential direction, and the number is the same as that of the frame poles 20, and there are one-to-one corresponding legs 7 (the legs 7 of the present embodiment are three), and each frame pole 20 One end of each is affixed to the lower surface of the fixed disk 3, and the other end is respectively affixed to the upper surface of a leg 7, and the lower surface of each leg 7 is respectively provided with a toothed plate 8 that increases friction; when the rig sampler is placed on the On the end face of deep-sea seabed rocks, they expand the contact area and increase the friction force, which reduces the possibility of overall shaking during the rotation of the rotary drive mechanism to drill samples, and avoids premature core breakage.

The vertical driving mechanism is the driving cylinder 2, which is driven by the ROV supply oil circuit; the cylinder body of the driving cylinder 2 is fixed on the upper part of the outer frame 4 (that is, on the fixed plate 3) with bolts, and is used for the progressive action drive up and down; the driving cylinder The output end of 2 is located in the outer frame 4 and connected with the rotary drive mechanism. The rotary driving mechanism is a hydraulic motor 11 , and the output end of the hydraulic motor 11 is connected to the upper end of the drill rod 13 through the drill rod connector 12 . The drill rod 13 and the drill bit 14 can perform reciprocating motion and forward and reverse rotation motion under the drive of the drive cylinder 2 and the hydraulic motor 11 .

The core-fixing mechanism includes a rolling chute 5, a sliding guide rail 6, a guide pulley 9 and a guide hole 10 provided on the support plate 19 at the bottom of the outer frame 4. The sliding guide rail 6 is installed on any frame pole 20 of the outer frame 4, hydraulic pressure The motor 11 is slidably connected with the sliding guide rail 6 through the rolling chute 5, and the guide pulleys 9 are multiple and evenly arranged on the outside of the drill rod 13. The drill rod 13 passes between the guide pulleys 9 and connects with the guide pulleys 9 respectively. rolling contact. The drill rod 13 and the drill bit 14 are driven by the drive cylinder 2 to be lowered or recovered by the guide hole 10 . Utilize the invariance of the relative positions of the sliding guide rail 6, the guide pulley 9, and the guide hole 10, so that the output axis of the drive cylinder 2, the output axis of the hydraulic motor 11, the drill rod 13, and the drill bit 14 are on a straight line, reducing the initial drilling time. state, during the rotation process, the swing problem of the drill bit 14. The wheel axle of guide pulley 9 is T-shaped connecting shaft 17, and the vertical edge of this T-shaped connecting shaft 17 is perpendicular to the axial direction of drilling rod 13, and the two ends of T-shaped connecting shaft 17 horizontal sides all rotate and are connected with pulley. Each frame pole 20 of the outer frame 4 is provided with a plurality of through holes 18 along the height direction, and the vertical sides of the T-shaped connecting shafts 17 of each guide pulley 9 are inserted into the through holes 18 of equal height.

Grab handle 1 comprises lateral T-shaped handle 15 and vertical end T-shaped handle 16, and this vertical end T-shaped handle 16 is installed on the top of outer frame 4 (that is, on the fixed plate 3), lateral T-shaped handle 15 and vertical end The T-shaped handle 16 is obliquely connected. The shape and size of the grabbing handle 1 match the manipulator of the ROV. Its lateral T-shaped handle 15 integrates the change of the operating angle of the manipulator of the ROV to adapt to the force of the drill sampler to drill holes at multiple angles and obtain rock samples.

The drive cylinder 2 and the hydraulic motor 11 of the present invention are the vertical and rotary drive mechanisms of the drill sampler, and the multi-angle grabbing handle 1, outer frame 4, legs 7 and toothed disc 8 are the peripheral fixed supports of the drill sampler, rolling and sliding Groove 5, sliding guide rail 6 and guide hole 10 are the centering mechanism of drill sampler, and drill pipe connector 12, drill pipe 13 and drill bit 14 are rock sample acquisition mechanism.

The present invention is based on the sampling method of the all-round underwater short-distance drilling rig sampler of ROV and comprises the following steps:

Step 1: Site selection, use the ROV's own detection capabilities to conduct shallow profile measurements and appearance inspections of the sample points, including shallow profile measurements near the seabed and physical and chemical environment measurements, and initially determine the sampling location; obtain sampling points and rocks of interest Obtain the length data of the sample, and use the above parameters to select drill pipes and drill bits of different lengths to drill samples at the sampling point; use the robot arm of the ROV to grab the lateral T-handle 15 of the grab handle 1 or the vertical T-handle 16. Through the reasonable cooperation between them, the drilling rig sampler is placed on the sampling point in any orientation, and at the same time, each leg 7 and the tooth disc 8 in the outer frame 4 are placed on the end face of the seabed rock, which enlarges the contact area and increases the The friction force is reduced, the influence of the hydraulic motor 11 shaking during the rotation sampling process is reduced, and the core is prevented from being broken in advance;

Step 2: Deep-sea sampling, drive the oil cylinder 2 to work, drive the hydraulic motor 11 to lower, and then drive the drill pipe 13 and the drill bit 14 to lower to the set position above the rock end face (5 cm above the rock end face), and then the hydraulic motor 11 works. Rotate, drive drill rod 13, drill bit 14 to rotate, this drill rod 13, drill bit 14 are lowered and rotated under the drive of drive cylinder 2 and hydraulic motor 11, obtain the rock sample of setting height (can be five centimeters);

After obtaining the rock samples at the required height, drive the cylinder 2 to drive the drill pipe 13 and the drill bit 14 to recover, and then repeat step 2 to carry out cumulative drilling of the rock samples;

Step 3: Break the core. When the driving cylinder 2 reaches the full scale, use the ROV manipulator to shake the sampler of the drilling rig to break the core of the rock sample at the end of the drill bit 14, and recover the drill bit 14 while rotating the drill pipe 13 until the driving cylinder 2 is fully retracted. ;

Step 4: Obtain samples at the shore base, use the ROV belt drill sampler to recover to the deck, disassemble the drill pipe 13 and drill bit 14 from the drill sampler, and take out the corresponding rock samples obtained from the inner layer of the drill pipe 13 .

The degree of coordination between the driving cylinder 2 and the hydraulic motor 11 directly affects the length and speed of sample injection. The length of the primary extension of the driving cylinder 2 and the rotation speed of the hydraulic motor 11 should be related to the rock composition. When the bottom is hard, the driving cylinder 2 The driving time should not exceed five centimeters. The hydraulic motor 11 should be operated slowly and then quickly. Once the drill sticking phenomenon occurs, the driving cylinder 2 should be used to recover the set distance, and then rotate the drilling until the drilling sample is completed. In this way, the obtained real deep-sea rock samples.

The invention is used for ROV underwater operation, and has the advantages of relatively compact structure, good safety, little influence by sampling depth, strong corrosion resistance, flexible and stable work, and can be applied to complex seabeds under various depths, temperatures and ocean current environments environment, it can be widely used in deep ocean sampling that requires multi-angle and short-distance rock sampling, and can quickly and effectively transfer samples.

Claims (7)

1. a kind of all-round underwater short-distance drilling rig sampler based on ROV, it is characterized in that: comprise and grab handle (1), vertical driving mechanism, rotary driving mechanism, outer frame (4), centering mechanism, drilling rod ( 13) and a drill bit (14), wherein the vertical drive mechanism is installed on the outer frame (4), the output end is connected with the rotary drive mechanism located in the outer frame (4), and the upper end of the drill rod (13) is connected with the rotary drive mechanism The output end is connected, and the lower end is threadedly connected with the drill bit (14), and the drill rod (13), the drill bit (14) and the rotary drive mechanism are driven down or recovered by the vertical drive mechanism, and the drill rod (13) and the drill bit (14) The rotation is driven by the rotary drive mechanism to obtain samples; the upper part of the outer frame (4) is provided with a grab handle (1) that can be grasped by the ROV manipulator at multiple angles, and the outer frame (4) is equipped with a Drill pipe (13), drill bit (14), the output axis of the vertical drive mechanism and the output axis of the rotary drive mechanism are collinear centering mechanism; The core fixing mechanism includes a rolling chute (5), a sliding guide rail (6), a guide pulley (9) and a guide hole (10) provided on the support plate (19) at the bottom of the outer frame (4), the sliding guide rail (6) ) is installed on the outer frame (4), the rotary drive mechanism is slidingly connected with the sliding guide rail (6) through a rolling chute (5), and the guide pulleys (9) are multiple and evenly arranged on the drill pipe (13), the drill rod (13) passes between the guide pulleys (9), and is in rolling contact with each guide pulley (9); the drill rod (13) and the drill bit (14) are vertically Driven by the driving mechanism, it is lowered or recovered from the guide hole (10); The outer frame (4) includes a fixed plate (3), a frame pole (20) and a support plate (19), and a plurality of frames are evenly distributed in the circumferential direction between the fixed plate (3) and the support plate (19). Struts (20), the outer edge of the support plate (19) is uniformly distributed in the circumferential direction with the same number of support feet (7) as the number of frame struts (20), and one-to-one corresponding legs (7), each of the frame struts (20 ) are all connected to the fixed disc (3), and the other end is connected to the upper surface of a leg (7) respectively, and the lower surface of each said leg (7) is respectively provided with a chainring (8) that increases friction. 2. according to the described omnidirectional underwater short-distance drilling rig sampler based on ROV according to claim 1, it is characterized in that: the axle of described guide pulley (9) is T-shaped connecting shaft (17), and this T-shaped connecting shaft (17 ) is perpendicular to the axial direction of the drill rod (13), and the two ends of the horizontal side of the T-shaped connecting shaft (17) are rotatably connected with pulleys; the outer frame (4) is provided with There are multiple rows of through holes (18), and the vertical sides of the T-shaped connecting shafts (17) of each of the guide pulleys (9) are inserted in the through holes (18) of equal height. 3. The omnidirectional underwater short-distance drilling rig sampler based on ROV according to claim 1, characterized in that: the grabbing handle (1) includes a lateral T-shaped handle (15) and a vertical T-shaped handle (16 ), the vertical end T-shaped handle (16) is installed on the top of the outer frame (4), and the lateral T-shaped handle (15) is obliquely connected with the vertical end T-shaped handle (16). 4. according to the described ROV-based all-round underwater short-distance drilling rig sampler of claim 1, it is characterized in that: the vertical drive mechanism is a drive cylinder (2), and the cylinder body of this drive cylinder (2) is installed on the On the upper part of the outer frame (4), the output end of the drive cylinder (2) is located in the outer frame (4) and connected with the said rotary drive mechanism; the said rotary drive mechanism is a hydraulic motor (11), and the hydraulic motor (11) The output end of the drill pipe connector (12) is connected with the upper end of the drill pipe (13). 5. A sampling method based on the ROV-based omnidirectional underwater short-distance drilling rig sampler according to any one of claims 1 to 4, characterized in that: comprising the following steps: Step 1: site selection, use the detection ability of ROV, carry out shallow section measurement and appearance inspection on the sample points obtained, preliminarily determine the sampling position, use the manipulator of ROV to grab the grab handle (1), and place the sampler of the drilling rig on the The sampling point is placed on the seabed by using the outer frame (4); Step 2: deep-sea sampling, the vertical drive mechanism works, drives the rotary drive mechanism to lower, and then drives the drill pipe (13) and drill bit (14) to the set position above the rock end face, and the rotary drive The mechanism works to drive the drill rod (13) and the drill bit (14) to rotate, and the drill rod (13) and the drill bit (14) are lowered and rotated under the drive of the vertical drive mechanism and the rotary drive mechanism to obtain the set height rock samples; Step 3: core breaking, when the vertical drive mechanism reaches full scale, use the ROV manipulator to shake the sampler of the drilling rig to break the core of the rock sample at the end of the drill bit (14), and recover the drill bit while rotating the drill pipe (13) (14), until the vertical drive mechanism is all retracted; Step 4: Obtain samples at the shore base, use the ROV to take the rig sampler back to the deck, disassemble the drill pipe (13) and drill bit (14) from the rig sampler, and take out the inner layer of the drill pipe (13) The corresponding rock samples were obtained. 6. sampling method according to claim 5, is characterized in that: in described step 2, after obtaining the rock sample of required height, this vertical driving mechanism drives described drilling rod (13), drill bit (14) Recover, repeat step 2 again, carry out the cumulative drilling of rock samples. 7. The sampling method according to claim 5, characterized in that: the vertical driving mechanism drives no more than five centimeters at a time, and the rotating driving mechanism operates slowly and then quickly; once a sticking phenomenon occurs, the vertical The drive mechanism recovers the set distance, and then rotates and drills until the rock sample is drilled.

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